#pragma once

#include <algorithm>

const float kResolution = 0.2;  // grid map分辨率
const float kMapXSize = 80.0;   // grid map上x方向尺寸
const float kMapYSize = 100.0;  // grid map上y方向尺寸
const int kMapRowSize = kMapXSize / kResolution;
const int kMapColSize = kMapYSize / kResolution;
const int kMaxObstacleGridNums = std::min(kMapRowSize * kMapColSize, 60000);  // 障碍物BOUNDARY所占据的网格点的数量
const float kRowRange = kMapXSize;
const int kRowIndexRange = kRowRange / kResolution;